Unmanned vehicle directional positioning method based on information fusion of wheel type odometer and gyroscope
A directional positioning, unmanned vehicle technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, which can solve problems such as internal sensor interference
Active Publication Date: 2020-12-08
JILIN UNIV
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[0007] During the driving process, many external environmental factors such as road conditions, temperature, and humidity will interfere with the internal sensor. The traditional pose estimation method lacks real-time dynamic estimation and compensation for sensor deviation and noise.
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[0152] The present invention aims to solve the problems existing in the traditional vehicle orientation positioning method: 1. The discrete-time motion model established by the Euler method in the traditional wheel odometer in the computer control is only an approximate model. It is easy to accumulate measurement errors during the driving process; 2. There is a slipping phenomenon during the driving process of the unmanned vehicle, which will cause a sudden change in the measured value of the odometer, and the pose estimation is a dynamic process, so that the sudden change phenomenon cannot be set by the threshold value in the traditional method ;3. The gyroscope has high noise, low precision, complicated calibration, and there are many uncertain factors in the pose estimation, and lacks a real-time dynamic noise statistical estimation method; 4. During the driving process of the unmanned vehicle, due to road conditions, Many external environments such as temperature and humidi...
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The invention discloses an unmanned vehicle directional positioning method based on information fusion of a wheel type odometer and a gyroscope, and belongs to the technical field of vehicle control.The invention aims to design an unmanned vehicle directional positioning method based on information fusion of a wheel type odometer and a gyroscope for wheel type odometer and gyroscope information fusion according to different noise characteristics of a wheel type odometer and a gyroscope. The method comprises the following steps: performing a sensor installation mode; establishing a kinematic model; performing sensor error and noise analysis; and performing sensor variance online estimation and performing an improved Kalman filtering method for information fusion of a wheel type odometer and a gyroscope under the conditions of odometer abnormal value detection. By analyzing sensor noise and designing an online real-time estimation method for sensor noise characteristics, the noise characteristics of the odometer and the gyroscope in different environments can be estimated in a self-adaptive mode, and the precision and application scenarios of the wheel type odometer and the gyroscope are improved.
Description
technical field [0001] The invention belongs to the technical field of vehicle control. Background technique [0002] With the continuous development of automation technology, the autonomous driving technology of automobiles has become a hot field of current research. Orientation positioning technology, which provides basic vehicle motion state information for the operation of other modules, is the key to automatic driving technology, and its accuracy directly determines the quality of automatic driving technology. [0003] The sensor information fusion of the signals collected by the wheel odometer and gyroscope mounted on the unmanned vehicle, and the vehicle's directional positioning, this strategy belongs to the category of relative directional positioning technology. In the current research, such as visual positioning, laser radar, ultrasonic radar, machine vision, UWB positioning system, GNSS positioning system and other external sensory sensors, there are complex pro...
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IPC IPC(8): G01C21/16G01C21/34G05D1/02
CPCG01C21/165G01C21/3415G05D1/027
Inventor 马彦白明郭则宣李成
Owner JILIN UNIV